JP2013160622A - Three-dimensional distance measurement system, control method therefor and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To calculate exact distance information and to reduce processing load of distance information calculation means such as a computer device executing a measurement algorithm.SOLUTION: When a measurement start instruction is given from a PC 102, a plurality of sheets of pattern images are projected by a projector 104, the plurality of sheets of pattern images are captured by a camera 105, and the PC 102 calculates distance information using captured images of the plurality of sheets of pattern images. A control circuit 201 determines the presence or absence of an abnormality in the projector 104 until the calculation of the distance information by the PC 102 is finished after the measurement start instruction is given. When it is determined that the projector 104 is abnormal, capturing by the camera 105 is stopped. The PC 102 stops calculation processing of the distance information and resets the calculation of the distance information when the captured images are not transmitted from the camera 105 for a fixed period.

Description

  The present invention relates to a three-dimensional distance measurement system that projects distance information by projecting a pattern image onto an object to be measured and images the pattern image, a control method thereof, and a program.

In recent years, assembly automation has progressed in production sites, and products are assembled by robots. There are various shapes for parts used in products, but in order to accurately assemble, it is necessary to let the robot know and grasp the shape of the part and the posture in which the part is placed.
In order to know the shape and orientation of a component, a technique for projecting a pattern image onto the component by a projection device and calculating the distance, position and orientation to the component from an image obtained by capturing the pattern image with the imaging device is known. . The robot operation is controlled by feeding back the distance, position and orientation to the part to the robot. In this case, if the erroneously calculated distance or position / posture is fed back to the robot, the robot will perform an unexpected movement.
Patent Document 1 discloses a technique for preventing a three-dimensional shape of a target object from being erroneously derived by the abnormal state when an image obtained by capturing the target object is in an abnormal state in the three-dimensional shape detection apparatus. Has been.

JP 2005-83816 A

An information processing device that executes a measurement algorithm for a captured image that is not a desired captured image when imaging is performed with an abnormality such as a light source not being turned on or a spatial light modulator not operating normally in the projection device Will be sent to. As a result, accurate distance information cannot be calculated by the measurement algorithm, and erroneous output is performed.
Further, if the information processing apparatus that executes the measurement algorithm is made to determine whether or not the captured image is normal, the processing load on the information processing apparatus increases, leading to a longer processing time.

  The present invention has been made in view of the above points, and is capable of calculating accurate distance information and reducing the processing load of distance information calculation means such as a computer device that executes a measurement algorithm. Objective.

  The three-dimensional distance measurement system of the present invention includes a projection device that projects a pattern image onto a measurement object, an imaging device that images the pattern image projected onto the measurement object by the projection device, and an image captured by the imaging device. A distance information calculation means for calculating distance information using a control means, and a control means for determining whether or not there is an abnormality in the projection apparatus and stopping the imaging by the imaging apparatus when it is determined that there is an abnormality. And

  According to the present invention, since only the captured image when there is no abnormality in the projection apparatus is transmitted to the distance information calculation unit, it is possible to calculate accurate distance information in the distance information calculation unit. In addition, since the distance information calculation unit does not determine whether the captured image is normal, it is possible to reduce the processing load of the distance information calculation unit.

It is a figure which shows the structure of the three-dimensional distance measurement system which concerns on 1st Embodiment. It is a figure which shows the detailed structure of the three-dimensional distance measuring device which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the three-dimensional distance measurement system which concerns on 1st Embodiment. It is a figure which shows the detailed structure of the three-dimensional distance measuring device which concerns on 2nd Embodiment. It is a flowchart which shows operation | movement of the three-dimensional distance measurement system which concerns on 2nd Embodiment. It is a figure which shows the detailed structure of the three-dimensional distance measuring device which concerns on 3rd Embodiment. It is a flowchart which shows operation | movement of the three-dimensional distance measurement system which concerns on 3rd Embodiment.

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.
(First embodiment)
FIG. 1 shows a configuration of a three-dimensional distance measurement system 101 according to the first embodiment.
Reference numeral 102 denotes a computer device (hereinafter referred to as a PC), which functions as a distance information calculation unit that executes a measurement algorithm for calculating distance information. The PC 102 not only calculates distance information, but also generates a pattern image and issues an instruction to drive the three-dimensional distance measuring device 103 (measurement start instruction).

  Reference numeral 103 denotes a three-dimensional distance measuring device connected to the PC 102, which includes a projector 104 and a camera 105. The projector 104 is a projection device that projects (projects) a striped pattern image of a so-called stripe pattern onto the object to be measured. The camera 105 is an imaging device that captures a pattern image projected onto the measurement object by the projector 104.

  In the three-dimensional distance measuring system 101, the PC 102 calculates distance information to the object to be measured from the image acquired by the three-dimensional distance measuring device 103 based on the principle of triangulation. The distance information is the distance in the depth direction such as the distance from the camera 105 of the object to be measured and the surface unevenness. In the present embodiment, a method called spatial encoding is used in which the width of the stripes projected by the projector 104 is changed, the pattern image is captured by the camera 105, and the captured image is encoded for each location.

  FIG. 2 is a diagram showing a detailed configuration of the three-dimensional distance measuring apparatus 103 according to the first embodiment. An arbitrary pattern image created by the PC 102 is transmitted as an image signal to the projector 104 via the control circuit 201. The control circuit 201 is a control unit that performs control to synchronize the projector 104 and the camera 105. In the present embodiment, an example in which a pattern image is generated by the PC 102 has been shown. However, a pattern image generator such as a signal generator or an apparatus having a similar function may be used for generating a pattern image.

  The projector 104 incorporates a panel 202 which is a two-dimensional spatial light modulator, an LED 203 as a light source, a current monitor 204 provided in the LED 203, and a projection lens 205. The pattern image displayed on the panel 202 is illuminated by the LED 203 and projected onto the object to be measured via the projection lens 205.

  In the present embodiment, a reflective liquid crystal is used for the panel 202, and an arbitrary pattern image corresponding to an input image can be displayed. The panel 202 is not limited to this as long as it has a similar function as DMD or ferroelectric liquid crystal other than the reflective liquid crystal.

  The LED 203 is provided with a current monitor 204 as detection means, and can detect whether or not a current is flowing through the LED 203. In the present embodiment, the current monitor 204 uses a Hall element, but other devices may be used as long as it can detect whether or not a current is flowing. The current monitor 204 may be provided in a drive circuit (not shown) that drives the LED 203. A signal from the current monitor 204 is input to the control circuit 201. When the control circuit 201 transmits a lighting signal to the LED 203 and the signal indicating that the current is detected from the current monitor 204 (hereinafter referred to as a detection signal) does not return, the control circuit 201 determines that the LED 203 is abnormal, An imaging stop signal is transmitted to the camera 105. That is, the control circuit 201 determines whether the LED 203 is operating normally, specifically, whether it is lit when it should be lit, according to the detection result of the current monitor 204. Note that a light amount monitor such as a PD (Photo Detector) may be used as long as it can detect whether or not the LED 203 is lit, and is not limited.

  As the camera 105, a camera using a widely known CCD (Charge Coupled Device image sensor) or CMOS (Complementary Metal Oxide Semiconductor) image sensor may be used. Not as long. The camera 105 may be a monochrome camera or a color camera.

  In the three-dimensional distance measuring apparatus 103 configured as described above, the pattern image transmitted from the PC 102 is displayed on the panel 202 under the control of the control circuit 201, and the pattern image is projected onto the object to be measured when the LED 203 is lit. The image is captured by the camera 105 in accordance with the timing at which the pattern image is projected. A plurality of pattern images, that is, 20 pattern images in the present embodiment, are used to calculate one distance information. The number of pattern images is not limited to this, and one-time distance information may be calculated from different numbers. The three-dimensional distance measuring apparatus 103 may receive all pattern images from the PC 102 at a time, or may receive the next pattern image from the PC 102 after projecting one pattern image.

  Here, when a measurement start instruction is transmitted from the PC 102 to the three-dimensional distance measuring device 103 and a lighting signal is transmitted from the control circuit 201 to the LED 203, there is a case where some abnormality occurs in the LED 203 and the LED 203 does not light up. From the control circuit 201, a signal for projecting a pattern image to the projector 104 and a lighting signal for the LED 203 are transmitted, and an imaging signal is transmitted to the camera 105 in accordance with the timing of imaging. However, when the LED 203 is not turned on, a pattern image is not projected, and a so-called black screen is projected. Therefore, a black image is captured on the entire screen by the camera 105 and is transmitted to the PC 102. In this case, the PC 102 that has received the captured image calculates incorrect distance information in an attempt to calculate distance information. Although not described in detail here, it is also conceivable to drive and control the automatic assembly robot as vision feedback using distance information from the three-dimensional distance measurement system 101. In this case, if incorrect distance information is calculated by the PC 102 and feedback is given to the drive control of the robot, the robot will move unexpectedly. As a result, the parts used for assembly are destroyed, or the robot itself collides with something and is damaged.

  In order to prevent such a malfunction of the robot, a method of causing the PC 102 to determine whether or not the captured image is normal can be considered. However, in order to accurately determine whether or not the captured pattern image is a desired pattern image, it is necessary to scan and confirm all the pixels of the captured image. For this reason, the processing load on the PC 102 that executes the measurement algorithm increases, making it difficult to perform quick measurement.

  Therefore, in this embodiment, when a detection signal is not returned from the current monitor 204 when a lighting signal is transmitted from the control circuit 201 to the LED 203, the LED 203 is abnormal (not lit when it should be lit). to decide. When determining that the LED 203 is abnormal, the control circuit 201 transmits an imaging stop signal to the camera 105. Thereby, the imaging by the camera 105 is stopped, and the transmission of the captured image from the camera 105 to the PC 102 is also stopped. Thus, it is possible to prevent the captured image that miscalculates the distance information from being transmitted to the PC 102 by handling the abnormality of the projector 104 as described above.

  Furthermore, a procedure when the above-described stop of imaging is in the middle of calculation of distance information in the PC 102 will be described. The PC 102 performs time-out processing when the captured image has not been transmitted for a certain period of time, and does not wait for the captured image to be transmitted from the camera 105, but stops the distance information calculation processing. Furthermore, the distance information that was calculated halfway is discarded, reset to the state before the first captured image is transmitted, and the distance information is erroneously calculated when measurement is resumed. To prevent that.

The operation of the three-dimensional distance measurement system 101 described above will be described with reference to the flowchart of FIG.
In step S <b> 301, a measurement start instruction including a pattern image and measurement conditions such as the lighting time of the LED 203 is transmitted from the PC 102 to the three-dimensional distance measuring apparatus 103.

  In step S <b> 302, the control circuit 201 that has received the measurement start instruction from the PC 102 transmits a pattern image and a lighting signal for the LED 203 to the projector 104. Projector 104 projects a pattern image based on a signal from control circuit 201. In addition, the control circuit 201 transmits an imaging signal that is synchronized with the projection timing of the projector 104 to the camera 105. The camera 105 captures the projected pattern image based on the imaging signal from the control circuit 201.

  In step S303, the control circuit 201 determines whether a detection signal is transmitted from the current monitor 204 when the projector 104 projects a pattern image. That is, it is determined whether the LED 203 is operating normally, specifically, whether the LED 203 is lit when it should be lit.

If a detection signal is transmitted from the current monitor 204 in step S303, that is, if the LED 203 is operating normally, the process proceeds to step S304.
In step S304, the pattern image captured by the camera 105 is transmitted to the PC 102, and the process proceeds to step S305.
In step S305, in order to calculate one distance information from the 20 pattern images, the control circuit 201 determines whether 20 pattern images have been projected and captured. If 20 pattern images have not been captured and transmitted to the PC 102, the process returns to step S302. If transmitted, the process proceeds to the next step S306.
In step S306, the PC 102 calculates distance information in the measurement algorithm from the 20 pattern images for calculating the distance information, and ends the measurement.

On the other hand, if the detection signal is not transmitted from the current monitor 204 in step S303, that is, if the LED 203 is not operating normally, the process proceeds to step S307.
In step S307, the control circuit 201 transmits an imaging stop signal to the camera 105, stops imaging, and proceeds to step S308.
In step S308, since the captured image is not transmitted from the camera 105 at a predetermined time, the PC 102 performs a time-out process, stops the distance information calculation process, and proceeds to the next step S309.
In step S309, the PC 102 discards the data for which distance information has been calculated halfway in the measurement algorithm, resets the state before the first captured image is transmitted, and performs the next measurement. Return to the prepared state and finish the measurement.

  As described above, since only the captured image when there is no abnormality in the LED 203 is transmitted to the PC 102, it is possible to calculate accurate distance information in the PC 102. In addition, since the PC 102 does not determine whether the captured image is normal, the processing load on the PC 102 can be reduced.

(Second Embodiment)
Next, a second embodiment will be described. The basic configuration of the three-dimensional distance measurement system 101 is the same as that of the first embodiment. In the following, the same components are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 4 is a diagram illustrating a detailed configuration of the three-dimensional distance measuring apparatus 103 according to the second embodiment. In this embodiment, in addition to the current monitor 204, a PD 401 is provided as light detection means for detecting light from the panel 202, which is a two-dimensional spatial light modulator. A half mirror 402 is arranged in the middle of the optical path on which the pattern image formed by the panel 202 is projected, and the light flux from the pattern image is condensed on the PD 401 via the lens 403. The signal from the current monitor 204 and the signal from the PD 401 are input to the control circuit 201.

In this embodiment, when projecting a pattern image, the current monitor 204 confirms that the LED 203 is lit, and the PD 401 performs light detection to monitor whether the panel 202 is operating normally. ing.
That is, the control circuit 201 determines that the LED 203 is abnormal when a signal indicating that a current has been detected from the current monitor 204 (hereinafter referred to as a detection signal) does not return when a lighting signal is transmitted to the LED 203. Then, an imaging stop signal is transmitted to the camera 105. That is, the control circuit 201 determines whether the LED 203 is operating normally, specifically, whether it is lit when it should be lit, according to the detection result of the current monitor 204.
Further, even when a lighting signal is transmitted to the LED 203 and a detection signal is returned from the current monitor 204, a signal (hereinafter referred to as a detection signal) that the light beam of the pattern image by the panel 202 is detected from the PD 401 is returned. If not, it is determined that the panel 202 is abnormal, and an imaging stop signal is transmitted to the camera 105. That is, the control circuit 201 determines whether the panel 202 is operating normally according to the detection result of the PD 401. Furthermore, it is possible to determine whether a desired pattern is projected by confirming whether a signal corresponding to the total luminous flux of the projected pattern is detected.
Thereby, the imaging by the camera 105 is stopped, and the transmission of the captured image from the camera 105 to the PC 102 is also stopped. Thus, it is possible to prevent the captured image that miscalculates the distance information from being transmitted to the PC 102 by handling the abnormality of the projector 104 as described above.

  Furthermore, a procedure when the above-described stop of imaging is in the middle of calculation of distance information in the PC 102 will be described. The PC 102 performs time-out processing when the captured image has not been transmitted for a certain period of time, and does not wait for the captured image to be transmitted from the camera 105, but stops the distance information calculation processing. Furthermore, the distance information that was calculated halfway is discarded, reset to the state before the first captured image is transmitted, and the distance information is erroneously calculated when measurement is resumed. To prevent that.

The operation of the three-dimensional distance measurement system 101 described above will be described with reference to the flowchart of FIG.
In step S501, a measurement start instruction including a measurement condition such as a pattern image and the lighting time of the LED 203 is transmitted from the PC 102 to the three-dimensional distance measuring apparatus 103.

  In step S <b> 502, the control circuit 201 that has received the measurement start instruction from the PC 102 transmits a pattern image and a lighting signal for the LED 203 to the projector 104. Projector 104 projects a pattern image based on a signal from control circuit 201. In addition, the control circuit 201 transmits an imaging signal that is synchronized with the projection timing of the projector 104 to the camera 105. The camera 105 captures the projected pattern image based on the imaging signal from the control circuit 201.

  In step S503, the control circuit 201 determines whether or not a detection signal is transmitted from the current monitor 204 when the projector 104 projects a pattern image, and further determines whether or not a detection signal is transmitted from the PD 401. to decide. That is, it is determined whether the LED 203 and the panel 202 are operating normally, specifically, whether the LED 203 is lit when it should be lit, and whether a pattern image is projected from the panel 202. .

If a detection signal is transmitted from the current monitor 204 and the PD 401 in step S503, that is, if the LED 203 and the panel 202 are operating normally, the process proceeds to step S504.
In step S504, the pattern image captured by the camera 105 is transmitted to the PC 102, and the process proceeds to step S505.
In step S505, in order to calculate one distance information from the 20 pattern images, the control circuit 201 determines whether 20 pattern images have been projected and captured. If 20 pattern images have not been captured and transmitted to the PC 102, the process returns to step S502. If transmitted, the process proceeds to the next step S506.
In step S506, the PC 102 calculates distance information in the measurement algorithm from the 20 pattern images for calculating distance information, and ends the measurement.

On the other hand, if no detection signal is transmitted from the current monitor 204 and the PD 401 in step S503, that is, if the LED 203 and the panel 202 are not operating normally, the process proceeds to step S507.
In step S507, the control circuit 201 transmits an imaging stop signal to the camera 105, stops imaging, and proceeds to step S508.
In step S508, since the captured image is not transmitted from the camera 105 at a predetermined time, the PC 102 performs a time-out process, stops the distance information calculation process, and proceeds to the next step S509.
In step S509, the PC 102 discards the data for which the distance information has been calculated halfway in the measurement algorithm, resets the state before the first captured image is transmitted, and performs the next measurement. Return to the prepared state and finish the measurement.

  As described above, since only the captured image when there is no abnormality in the LED 203 and the panel 202 is transmitted to the PC 102, accurate distance information can be calculated in the PC 102. In addition, since the PC 102 does not determine whether the captured image is normal, the processing load on the PC 102 can be reduced.

  In the present embodiment, whether or not the LED 203 and the panel 202 are operating normally in the projector 104 is determined together. However, only the PD 401 is installed and whether or not the panel 202 is abnormal is determined independently. The form to do is also good.

(Third embodiment)
Next, a third embodiment will be described. The basic configuration of the three-dimensional distance measurement system 101 is the same as that of the first embodiment. In the following, the same components are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 6 is a diagram showing a detailed configuration of the three-dimensional distance measuring apparatus 103 according to the third embodiment. In this embodiment, the LED 203 is provided with a thermistor 601 as temperature detection means, and the temperature of the LED 203 can be detected. A signal from the thermistor 601 is input to the control circuit 201. The thermistor 601 always outputs a signal corresponding to the temperature of the LED 203, and the control circuit 201 monitors the temperature of the LED 203.

  In the present embodiment, the LED 203 has a specification for use at 80 ° C. or lower. In the three-dimensional distance measuring device 103, in order to take a safety margin, the LED 203 is cooled by a heat sink and a fan (not shown) so that the temperature of the LED 203 becomes a set temperature of 60 ° C. or less. However, if the drive current of the LED 203 becomes higher than the set value, or if the LED 203 cannot be sufficiently cooled by the cooling mechanism, the LED 203 may become hot.

  As a fail-safe for this, if the control circuit 201 detects that the LED 203 is 60 ° C., it recognizes that the temperature rise of the LED 203 will continue to exceed the operating temperature range in this state of use, and the control circuit 201 Stop driving. When the LED 203 is not turned on, as described in the first embodiment, a pattern image is not projected and a so-called black screen is projected. Therefore, a black image is captured on the entire screen by the camera 105 and is transmitted to the PC 102. In this case, the PC 102 that has received the captured image calculates incorrect distance information in an attempt to calculate distance information.

  However, distance information cannot be calculated if the temperature of the LED 203 exceeds 60 ° C. during the acquisition of 20 pattern images and the imaging is immediately stopped. Therefore, in this embodiment, since there is a safety margin with respect to the operating temperature of the LED 203, 20 pattern images are projected and imaged, and measurement is executed until the PC 102 finishes transmitting the captured image. That is, when the measurement is started after confirming that the temperature of the LED 203 from the thermistor 601 is 60 ° C. or less at the measurement start stage, the measurement is performed ignoring the signal from the thermistor 601 until the measurement is completed. After the measurement for calculating one distance information is finished, even if a measurement start instruction is transmitted from the PC 102 to the control circuit 201, the imaging by the camera 105 is stopped, and at the same time, the image signal to the projector 104 and the driving to the LED 203 are stopped. Also stop the signal.

  Further, when the LED 203 is turned off for a certain period, the temperature of the LED 203 falls below the set temperature due to cooling by the cooling mechanism or natural cooling. When the output from the thermistor 601 becomes equal to or lower than the set temperature, the control circuit 201 cancels the state where the measurement start instruction from the PC 102 is not received and returns to the normal state.

The operation of the three-dimensional distance measurement system 101 described above will be described with reference to the flowchart of FIG.
In step S <b> 701, a measurement start instruction including a measurement condition such as a pattern image and the lighting time of the LED 203 is transmitted from the PC 102 to the three-dimensional distance measuring apparatus 103.

  In step S <b> 702, the control circuit 201 confirms whether the temperature of the LED 203 is 60 ° C. or less based on a signal from the thermistor 601.

If the temperature of the LED 203 is 60 ° C. or lower in step S702, the process proceeds to step S703.
In step S <b> 703, the control circuit 201 transmits a pattern image and a lighting signal of the LED 203 to the projector 104. Projector 104 projects a pattern image based on a signal from control circuit 201. In addition, the control circuit 201 transmits an imaging signal that is synchronized with the projection timing of the projector 104 to the camera 105. The camera 105 captures the projected pattern image based on the imaging signal from the control circuit 201.
In step S704, the pattern image captured by the camera 105 is transmitted to the PC 102, and the process proceeds to step S705.
In step S705, the control circuit 201 determines whether or not 20 pattern images have been projected and captured in order to calculate one distance information from the 20 pattern images. If 20 pattern images have not been captured and transmitted to the PC 102, the process returns to step S703. If transmitted, the process proceeds to the next step S706.
In step S706, the PC 102 calculates distance information in the measurement algorithm from the 20 pattern images for calculating the distance information, and ends the measurement.

On the other hand, if the temperature of the LED 203 exceeds 60 ° C. in step S702, it is determined that the LED 203 is abnormal and the process proceeds to step S707.
In step S707, the control circuit 201 transmits an imaging stop signal to the camera 105 without transmitting a pattern image to the projector 104 or a lighting signal to the LED 203, stops imaging, and ends the processing. .

  As described above, when the temperature of the LED 203 exceeds 60 ° C. at the start of measurement, the captured image is not transmitted to the PC 102, so that accurate distance information can be calculated in the PC 102. . Moreover, since it is not determined whether the captured image is normal in the PC 102, the processing load on the PC 102 can be reduced.

In the above-described embodiment, the control circuit 201, the projector 104, and the camera 105 are described as a three-dimensional distance measurement device. However, the control circuit 201, the projector 104, and the camera 105 may be configured as separate devices. .
(Other embodiments)
The present invention can also be realized by executing the following processing. That is, software (program) that realizes the functions of the above-described embodiments is supplied to a system or apparatus via a network or various storage media, and a computer (or CPU, MPU, etc.) of the system or apparatus reads the program. It is a process to be executed.

101: 3D distance measurement system, 102: PC, 103: 3D distance measurement device, 104: projector, 105: camera, 201: control circuit, 202, panel, 203: LED, 204: current monitor, 205: projection lens 401: PD, 402: half mirror, 403: lens, 601: thermistor

Claims (10)

A projection device that projects a pattern image onto the object to be measured;
An imaging device that captures a pattern image projected onto the measurement object by the projection device;
Distance information calculating means for calculating distance information using an image captured by the imaging device;
A three-dimensional distance measurement system comprising: a control unit that determines whether or not there is an abnormality in the projection apparatus, and stops imaging by the imaging apparatus when it is determined to be abnormal.   The three-dimensional distance measurement system according to claim 1, wherein the control unit performs control to synchronize the projection device and the imaging device. When there is a measurement start instruction, the projection device projects a plurality of pattern images, and the plurality of pattern images are captured by the imaging device,
The distance information calculation means calculates distance information using captured images of the plurality of pattern images,
The control means determines whether or not there is an abnormality in the projection apparatus before the distance information calculation by the distance information calculation means is completed after the measurement start instruction is given, and the projection apparatus is abnormal. 3. The three-dimensional distance measurement system according to claim 1, wherein when the determination is made, imaging by the imaging apparatus is stopped.   4. The distance information calculation unit, when a captured image is not transmitted from the imaging apparatus for a certain period, stops the distance information calculation process and resets the distance information calculation. The three-dimensional distance measurement system described in 1. When there is a measurement start instruction, the projection device projects a plurality of pattern images, and the plurality of pattern images are captured by the imaging device,
The distance information calculation means calculates distance information using captured images of the plurality of pattern images,
The control means determines whether or not there is an abnormality in the projection apparatus only when the measurement start instruction is given, and stops imaging by the imaging apparatus when it is determined that the projection apparatus is abnormal. The three-dimensional distance measurement system according to claim 1 or 2. A detecting means for determining whether or not a light source included in the projection device is lit;
6. The three-dimensional distance according to claim 1, wherein the control unit determines whether or not the light source is operating normally according to a detection result of the detection unit. Measuring system. Photodetection means for detecting light by a spatial light modulator provided in the projection device,
The said control means detects whether the said spatial light modulator is operating normally according to the detection result of the said light detection means, The any one of Claim 1 thru | or 6 characterized by the above-mentioned. 3D distance measurement system. A temperature detecting means for detecting a temperature of a light source included in the projection device;
The three-dimensional distance according to any one of claims 1 to 7, wherein the control means determines that the temperature is abnormal when the temperature detected by the temperature detection means exceeds a set temperature. Measuring system. A projection device that projects a pattern image onto the object to be measured;
An imaging device that captures a pattern image projected onto the measurement object by the projection device;
A control method of a three-dimensional distance measurement system comprising distance information calculation means for calculating distance information using an image captured by the imaging device,
A control method for a three-dimensional distance measurement system, comprising: determining whether or not there is an abnormality in the projection apparatus, and stopping imaging by the imaging apparatus when it is determined that there is an abnormality. A projection device that projects a pattern image onto the object to be measured;
An imaging device that captures a pattern image projected onto the measurement object by the projection device;
A program for controlling a three-dimensional distance measurement system comprising distance information calculation means for calculating distance information using an image captured by the imaging device,
A program for causing a computer to execute processing for stopping imaging by the imaging apparatus when it is determined whether there is an abnormality in the projection apparatus and when it is determined to be abnormal.

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